Air spring control method and system, vehicle and electronic equipment

Abstract

The invention relates to a control method and system of an air spring, a vehicle and electronic equipment, and relates to the technical field of vehicles, and the method comprises the steps that a first maximum allowable pressure threshold value of the air spring is determined based on road surface gradient information of a road surface on which the vehicle runs; determining a second maximum allowable pressure threshold value of the air spring in the vehicle based on the external environment information of the vehicle; and on the basis of the first maximum allowable pressure threshold value and / or the second maximum allowable pressure threshold value, deflation control is performed on the air spring, so that the pressure threshold value of the air spring can be adjusted more flexibly and effectively, and the risk of explosion caused by pressure overrun of the air spring due to improper pressure is avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and particularly to the field of air suspension technology, specifically to a control method, system, vehicle, and electronic equipment for an air spring. Background Technology

[0002] Currently, with the promotion and application of the "Champagne Tower Stable Operation Mode" in automobiles, the development direction of automotive chassis has shifted from the independent development and deployment of braking, steering, and suspension to "integrated comfort with high integration of braking, steering, and suspension." This has gradually achieved the goal of leveling the floor in the engine compartment and passenger cabin by adjusting the height difference of the four-wheel air suspension through the adjustment of air springs. Existing technologies only allow for fully inflated or fully deflated air spring adjustments, and these adjustments are generally passively controlled by sensors.

[0003] However, passive adjustment has a lag, which can easily lead to the air spring failing to adjust the pressure in time, resulting in pressure exceeding the limit. Therefore, it is necessary to explore a more flexible and effective control method for the air spring. Summary of the Invention

[0004] This application provides a control method, system, vehicle, and electronic device for an air spring, to at least solve the technical problem of pressure over-limit risk in air springs in related technologies. The technical solution adopted in this application is as follows: In a first aspect, this application provides a method for controlling an air spring, comprising: determining a first maximum permissible pressure threshold of the air spring based on road slope information of the road surface on which the vehicle travels; determining a second maximum permissible pressure threshold of the air spring in the vehicle based on external environmental information of the vehicle; and controlling the deflation of the air spring based on the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold.

[0005] Based on the aforementioned technical means, this application determines the first and second maximum permissible pressure thresholds of the air spring by comprehensively considering road slope information and external environmental information. By controlling the deflation of the air spring through the first and second maximum permissible pressure thresholds, the pressure thresholds of the air spring can be adjusted more flexibly and effectively according to different road conditions and environmental conditions, so as to avoid the risk of the air spring exploding due to excessive pressure caused by improper pressure.

[0006] In one possible implementation, determining the first maximum permissible pressure threshold of the air spring based on the road slope information of the road surface on which the vehicle is traveling includes: determining the center of gravity of the vehicle at the next path point based on the road slope information; querying the pressure value corresponding to the center of gravity from a first variation curve; wherein the first variation curve is the variation curve between the center of gravity of the vehicle and the maximum permissible pressure threshold of the air spring on the vehicle; and determining the queried pressure value as the first maximum permissible pressure threshold.

[0007] Based on the aforementioned technical means, this application determines the change curve according to the influence of the vehicle's center of gravity change on the maximum permissible pressure threshold of the air spring. This allows for the determination of the maximum permissible pressure threshold of the air spring by combining the changes in the vehicle's center of gravity at the current position and the center of gravity at the next transit point, thereby improving the air spring safety of the vehicle on sloping roads.

[0008] In one possible implementation, determining a second maximum permissible pressure threshold for the air spring in the vehicle based on the vehicle's external environmental information includes: querying a pressure value corresponding to the external environmental information from a second variation curve; wherein the second variation curve is a variation curve between the vehicle's external environmental information and the maximum permissible pressure threshold of the air spring in the vehicle; and determining the queried pressure value as the second maximum permissible pressure threshold; wherein the external environmental information includes: external ambient air pressure and external ambient temperature.

[0009] Based on the aforementioned technical means, this application determines the change curve based on the influence of external environmental information on the maximum permissible pressure threshold of the air spring in the vehicle, thereby determining the maximum permissible pressure threshold of the air spring under the current external environmental information. This enables the more rapid and accurate determination of the appropriate maximum permissible pressure threshold, thereby effectively controlling the air spring and improving the vehicle's adaptability to different environments and its driving performance.

[0010] In one possible implementation, the external environment information also includes: external force collision information.

[0011] Based on the aforementioned technical means, this application combines external force collision information with information such as external air pressure and external temperature to determine the change curve of the maximum permissible pressure threshold of the air spring, thereby improving the judgment performance of the maximum permissible pressure threshold of the vehicle.

[0012] In one possible implementation, the air spring is deflated based on a first maximum permissible pressure threshold and / or a second maximum permissible pressure threshold, including: determining a target pressure threshold based on the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold; and deflated based on vehicle driving information and the target pressure threshold.

[0013] Based on the aforementioned technical means, this application can determine the target pressure threshold under different conditions by using the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold. This allows for the control of air spring deflation in conjunction with vehicle driving information, making the air spring deflation control more precise and thus ensuring the safety of the air spring to the greatest extent.

[0014] In one possible implementation, determining a target pressure threshold based on a first maximum permissible pressure threshold and / or a second maximum permissible pressure threshold includes: determining the minimum value of the first maximum permissible pressure threshold and the second maximum permissible pressure threshold as the target pressure threshold.

[0015] Based on the above technical means, this application determines the minimum value between the first maximum permissible pressure threshold and the second maximum permissible pressure threshold as the target pressure threshold. This can comprehensively consider the influence of both the vehicle's road slope information and the external environment, so as to avoid the air spring pressure value being set too high due to the pressure threshold of one influencing factor, which would affect the stability and safety of the vehicle during driving.

[0016] In one possible implementation, the vehicle includes multiple air springs corresponding one-to-one with multiple wheels; each air spring has its corresponding target pressure threshold; driving information includes the wheel speeds of the multiple wheels and the heights of the multiple air springs; based on the vehicle's driving information and the target pressure thresholds, deflation control of the air springs is performed, including: for a target wheel among the multiple wheels, determining the theoretical pressure range of the target air spring based on the wheel speed of the target wheel and the height of the target air spring corresponding to the target wheel; if the pressure value of the target air spring exceeds the theoretical pressure range, correcting the pressure value of the target air spring using the pressure values ​​of the other air springs among the multiple air springs besides the target air spring; if the corrected pressure value of the target air spring is greater than the target pressure threshold of the target air spring, deflation control of the target air spring is performed.

[0017] Based on the aforementioned technical means, this application compares the pressure value of each air spring with the theoretical pressure range of the vehicle under the current driving information to determine the performance of the air spring, so as to correct the pressure value of the air spring that exceeds the theoretical pressure range, thereby avoiding inaccurate pressure value judgment due to air spring failure or malfunction, which would affect the performance of air spring deflation control.

[0018] Secondly, this application provides a control system for an air spring, comprising: a first pressure determination module, used to determine a first maximum permissible pressure threshold of the air spring based on road slope information of the road surface on which the vehicle travels; a second pressure determination module, used to determine a second maximum permissible pressure threshold of the air spring in the vehicle based on external environmental information of the vehicle; and a spring control module, used to perform deflation control on the air spring based on the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold.

[0019] In one possible implementation, the first pressure determination module is specifically used to: determine the center of gravity of the vehicle at the next path point based on road slope information; query the pressure value corresponding to the center of gravity from a first variation curve; wherein the first variation curve is the variation curve between the vehicle's center of gravity and the maximum permissible pressure threshold of the air spring on the vehicle; and determine the queried pressure value as the first maximum permissible pressure threshold.

[0020] In one possible implementation, the second pressure determination module is specifically used to: query the pressure value corresponding to the external environment information from the second change curve; wherein the second change curve is the change curve between the external environment information of the vehicle and the maximum permissible pressure threshold of the air spring on the vehicle; and determine the queried pressure value as the second maximum permissible pressure threshold; wherein the external environment information includes: external air pressure and external temperature.

[0021] In one possible implementation, the external environment information also includes: external force collision information.

[0022] In one possible implementation, the spring control module is configured to: determine a target pressure threshold based on a first maximum permissible pressure threshold and / or a second maximum permissible pressure threshold; and control the deflation of the air spring based on the vehicle's driving information and the target pressure threshold.

[0023] In one possible implementation, the spring control module is specifically used to: determine the minimum value of the first maximum permissible pressure threshold and the second maximum permissible pressure threshold as the target pressure threshold.

[0024] In one possible implementation, the vehicle includes multiple air springs corresponding one-to-one with multiple wheels; each air spring has its corresponding target pressure threshold; driving information includes the wheel speeds of the multiple wheels and the heights of the multiple air springs; the system is further configured to: for a target wheel among the multiple wheels, determine the theoretical pressure range of the target air spring based on the wheel speed of the target wheel and the height of the target air spring corresponding to the target wheel; if the pressure value of the target air spring exceeds the theoretical pressure range, correct the pressure value of the target air spring using the pressure values ​​of the other air springs among the multiple air springs besides the target air spring; and if the corrected pressure value of the target air spring is greater than the target pressure threshold of the target air spring, perform deflation control on the target air spring.

[0025] Thirdly, this application provides a vehicle that includes the air spring control system described in the second aspect.

[0026] Fourthly, this application provides an electronic device, including: a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the method described in the first aspect and any possible implementation thereof.

[0027] Fifthly, this application provides a computer-readable storage medium that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0028] In a sixth aspect, this application provides a computer program product comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any of its possible implementations.

[0029] It should be noted that the technical effects of any of the implementation methods in aspects two through six can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0030] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0032] Figure 1 This is a schematic diagram of the structure of a vehicle shown in an embodiment of this application; Figure 2 This is a flowchart illustrating a control method for an air spring according to an embodiment of this application; Figure 3 This is a schematic diagram of the control logic of an air spring shown in an embodiment of this application; Figure 4 This is a block diagram illustrating a control device for an air spring according to an embodiment of this application; Figure 5 This is a block diagram illustrating a control system for an air spring according to an embodiment of this application; Figure 6 This is a block diagram illustrating an electronic device according to an embodiment of this application. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0034] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0035] In the embodiments of this application, the words "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a specific manner.

[0036] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0037] This application provides a method for controlling an air spring, which ensures the stability of the air suspension and the vehicle body (especially intelligent driving vehicles) by controlling the air spring pressure. A vehicle can also be referred to as a vehicle, mobile carrier, electric vehicle (EV), hybrid electric vehicle (HEV), plug-in hybrid electric vehicle (PHEV), fuel cell vehicle (FCV), autonomous vehicle, intelligent and connected vehicle (ICV), driverless vehicle, etc.

[0038] In this application, the vehicle can be a sedan, a sport utility vehicle (SUV), a truck, a special vehicle (such as an ambulance, fire truck, police car, etc.), a driverless taxi, a smart connected bus, an autonomous logistics vehicle, an electric truck, etc. Furthermore, this method is also applicable to various special-purpose vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, and port vehicles. This application does not impose specific limitations in this regard.

[0039] Figure 1 This is a schematic diagram of the structure of a vehicle shown in an embodiment of this application, such as... Figure 1 As shown, the vehicle 100 of this application includes an air suspension 101 and an air spring control system 102, wherein the air suspension 101 includes an air spring 1001.

[0040] The air spring 1001 is the core component of the air suspension 101. The air spring 1001 uses air as the elastic medium and provides support force by compressing air.

[0041] The air suspension 101 also includes shock absorbers, guide mechanisms, air supply units, solenoid valve bodies, etc.

[0042] The air spring control system 102 is used to determine the maximum permissible pressure threshold of the vehicle's air spring based on the vehicle's road slope information and external environment information, and compare it with the pressure value of the air spring 1001 in the air suspension 101. In this case, if the pressure value is greater than the maximum permissible pressure threshold of the corresponding air spring, the air spring 1001 is depressurized.

[0043] The air spring control system 102 is also used to receive road slope information and external environment information of the vehicle. The road slope information includes the magnitude of the road slope, the direction of the slope, the slope change, the slope length, the road adhesion coefficient, etc.; the external environment information includes the external air pressure, the external temperature, the road surface temperature, the external humidity, the road surface humidity, the weather conditions, etc.

[0044] For example, strong winds can exert lateral forces on a vehicle, affecting its lateral stability. Based on this, air springs can offset some of the effects of lateral forces by adjusting the pressure difference between the two sides of the vehicle body.

[0045] In practical applications, the air spring control system 102 can communicate with one or more air suspensions 101.

[0046] For ease of understanding, this application uses the communication connection between an air spring control system 102 and an air suspension 101 as an example for illustration.

[0047] As a feasible approach, Figure 1 The air suspension 101 and the air spring control system 102 are installed in the vehicle. The air suspension 101 and the air spring control system 102 can be functional modules integrated into the same device, or they can be independently installed devices. This application does not impose any limitations on the comparison.

[0048] It is easy to understand that when the air suspension 101 and the air spring control system 102 are integrated into the same functional module within the same device, the communication method between the air suspension 101 and the air spring control system 102 is the same as the communication between modules within the device. In this case, the communication process between the two is the same as the "communication process when the air suspension 101 and the air spring control system 102 are set up independently". For ease of understanding, this application mainly uses the example of the air suspension 101 and the air spring control system 102 being set up independently for explanation.

[0049] As a feasible approach, Figure 1 The control system 102 for the air spring can be installed on a terminal, a server, or other types of electronic equipment.

[0050] When the air spring control system 102 is located at a terminal, the terminal can be a device providing data connectivity to vehicle users or vehicle owners, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device that exchanges voice and / or data with the radio access network, such as a mobile phone, tablet, laptop, netbook, or personal digital assistant (PDA). This application does not impose any limitations on this.

[0051] When the air spring control system 102 is located on a server, the server can be a single server or a server cluster consisting of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not impose any limitations in this regard.

[0052] It should be noted that the structure illustrated in the embodiments of this application does not constitute a limitation on the air spring control system 102. It may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of both.

[0053] For ease of understanding, the control method of the air spring provided in this application will be described in detail below with reference to the accompanying drawings.

[0054] Figure 2 This is a flowchart illustrating a control method for an air spring according to an embodiment of this application, with reference to... Figure 2 The method includes: S201. Based on the road slope information of the road surface where the vehicle is traveling, determine the first maximum permissible pressure threshold of the air spring.

[0055] The aforementioned road surface slope information refers to the relevant parameters used to describe the degree of inclination of the road surface. Among them, the road surface slope information includes slope magnitude, slope direction, slope variation, and slope length.

[0056] The slope mentioned above is a quantification of the road surface inclination in percentage or degree. Under different slopes, the vehicle's center of gravity position is different, which in turn affects the pressure threshold of different air springs on the vehicle.

[0057] The aforementioned slope direction includes uphill, downhill, and side slope. Uphill will cause the vehicle's center of gravity to be positioned further back, downhill will cause the vehicle's center of gravity to be positioned further forward, and side slope will cause the vehicle's center of gravity to be positioned further to the left or right, thereby affecting the pressure threshold of different air springs in the vehicle.

[0058] In one possible implementation, determining the first maximum permissible pressure threshold of the air spring based on the road slope information of the road surface on which the vehicle is traveling includes: determining the center of gravity of the vehicle at the next path point based on the road slope information; querying the pressure value corresponding to the center of gravity from a first variation curve; wherein the first variation curve is the variation curve between the center of gravity of the vehicle and the maximum permissible pressure threshold of the air spring on the vehicle; and determining the queried pressure value as the first maximum permissible pressure threshold.

[0059] The aforementioned center of mass refers to the equivalent concentration point of the mass distribution of various parts of the vehicle. In other words, when the vehicle is in equilibrium in the gravitational field, the mass of the vehicle can be regarded as a virtual location concentrated at the center of mass.

[0060] The first variation curve mentioned above refers to the variation curve of the maximum permissible pressure threshold of the air spring on the vehicle as the vehicle's center of gravity changes. The maximum permissible pressure threshold of the air spring at different locations on the vehicle varies with the vehicle's center of gravity.

[0061] For example, each wheel of a passenger vehicle is equipped with an air spring; buses in commercial vehicles are typically equipped with air springs on both the front and rear axles; and cargo vehicles in commercial vehicles may have two air springs on the rear axle, or air springs on both the front and rear axles.

[0062] The pressure values ​​mentioned above refer to the pressure values ​​of different air springs in the vehicle corresponding to the center of mass of the next transit point, which can be found in the variation curve.

[0063] The aforementioned first maximum permissible pressure threshold refers to determining the vehicle's center of gravity position when it reaches the next waypoint based on the road slope information of the road surface on which the vehicle is traveling, fed back by the vehicle's inertial measurement unit (IMU) and / or high-precision map, and determining the corresponding first maximum permissible pressure threshold based on the change in the center of gravity position of the next waypoint.

[0064] S202. Based on the vehicle's external environment information, determine the second maximum permissible pressure threshold of the air springs in the vehicle.

[0065] The aforementioned external environmental information refers to environmental factors outside the vehicle that affect driving safety and comfort, including external air pressure, external temperature, road surface temperature, external humidity, road surface humidity, weather conditions, road surface adhesion coefficient, and the dynamics of surrounding vehicles.

[0066] In one possible implementation, determining a second maximum permissible pressure threshold for the air spring in the vehicle based on the vehicle's external environment information includes: querying a pressure value corresponding to the external environment information from a second variation curve; wherein the second variation curve is a variation curve between the vehicle's external environment information and the maximum permissible pressure threshold of the air spring in the vehicle; and determining the queried pressure value as the second maximum permissible pressure threshold.

[0067] The second variation curve mentioned above refers to the variation curve of the maximum permissible pressure threshold of the air spring on the vehicle as the vehicle's external environmental information changes. The variation curve of the maximum permissible pressure threshold of the air spring at different locations on the vehicle as the vehicle's external environmental information changes is different.

[0068] The aforementioned external air pressure refers to atmospheric pressure. During vehicle operation, atmospheric pressure directly affects the internal pressure of the air spring, thereby affecting the maximum permissible pressure threshold of the air spring. Specifically, the higher the external air pressure, the lower the maximum permissible pressure threshold of the air spring, in order to prevent the internal pressure of the air spring from being too high and causing material overload; the lower the external air pressure, the higher the maximum permissible pressure threshold of the air spring, in order to compensate for pressure difference loss and maintain the structural stability of the air spring.

[0069] The ambient temperature outside the vehicle directly affects the gas density inside the air spring through the gas state equation. Therefore, the maximum pressure threshold of the air spring varies with different ambient temperatures. As the ambient temperature outside the vehicle increases, the maximum permissible pressure threshold of the air spring gradually decreases; as the ambient temperature outside the vehicle decreases, the maximum permissible pressure threshold of the air spring gradually increases.

[0070] For example, in a low-temperature environment, the kinetic energy of gas molecules decreases, causing them to shrink in volume. If the air spring does not compensate for the temperature change, the actual internal pressure of the air spring may exceed its bearing limit, leading to the risk of pressure exceeding the limit. The aforementioned second maximum permissible pressure threshold is the maximum permissible pressure threshold of the air spring under the corresponding environmental conditions, determined from the second variation curve based on the current external environment information.

[0071] S203. Based on the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold, the air spring is vented.

[0072] The aforementioned deflation control refers to determining the maximum permissible pressure threshold of the air spring under the current driving state of the vehicle based on the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold, and deflating the air spring if the actual pressure value exceeds the maximum permissible pressure threshold, so as to achieve control of the air spring.

[0073] Based on the aforementioned technical means, this application determines the first and second maximum permissible pressure thresholds of the air spring by comprehensively considering road slope information and external environmental information. By controlling the deflation of the air spring through the first and second maximum permissible pressure thresholds, the pressure thresholds of the air spring can be adjusted more flexibly and effectively according to different road conditions and environmental conditions, so as to avoid the risk of the air spring exploding due to excessive pressure caused by improper pressure.

[0074] In one possible implementation, the external environment information also includes: external force collision information.

[0075] The aforementioned external force collision information refers to data related to the collision process or that can describe the characteristics of the collision when a vehicle is involved in a collision accident. This external force collision information includes collision intensity, direction, location of impact, and duration.

[0076] As an achievable method, in the event of an external collision with the vehicle, a second variation curve is determined based on the changes between the external air pressure and temperature of the vehicle, the external collision information, and the maximum permissible pressure threshold of the air springs on the vehicle. Query the pressure value corresponding to the external environment information from the second change curve; The retrieved pressure value is determined as the second maximum permissible pressure threshold.

[0077] In one possible implementation, the air spring is deflated based on a first maximum permissible pressure threshold and / or a second maximum permissible pressure threshold, including: determining a target pressure threshold based on the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold; and deflated based on vehicle driving information and the target pressure threshold, so as to make the deflation control of the air spring more precise, thereby maximizing the safety of the air spring.

[0078] The aforementioned target pressure threshold refers to the pressure threshold of the air spring obtained after adjusting the maximum permissible pressure threshold. When the pressure value inside the target air spring exceeds the target pressure threshold, the target air spring will explode due to excessive pressure.

[0079] As one possible approach, the minimum of the first maximum permissible pressure threshold and the second maximum permissible pressure threshold is determined as the target pressure threshold.

[0080] As another feasible approach, road slope information is set with a road slope weight, and external environment information is set with an environmental impact weight. When the road slope weight is higher than the environmental impact weight, the first maximum permissible pressure threshold is used as the target pressure threshold of the air spring; when the road slope weight is not higher than the environmental impact weight, the second maximum permissible pressure threshold is used as the target pressure threshold of the air spring.

[0081] The aforementioned road slope weight refers to the weight of the influence of road slope information on the maximum allowable pressure threshold of the air spring.

[0082] The aforementioned environmental impact weight refers to the weight of the influence of external environmental information on the maximum permissible pressure threshold of the air spring.

[0083] The values ​​for the road slope weight and environmental impact weight mentioned above are in the range of (0,1).

[0084] As another feasible approach, a set of road slope weights is obtained based on the information influence weight of each piece of information in the road slope information. Furthermore, based on the information influence weight of each piece of information in the external environment information, a set of environmental influence weights for the external environment information is obtained; The first information corresponding to the information influence weight that exceeds the preset weight threshold is selected from the road slope weight set and the environmental impact weight set; If the first information is road slope information, then the first maximum permissible pressure threshold is used as the target pressure threshold of the air spring. If the first information is external environmental information, then the second maximum permissible pressure threshold is used as the target pressure threshold of the air spring. If the aforementioned first information is not available, the first average weight of the information influence weight in the road slope weight set is compared with the second average weight of the information influence weight in the environmental influence weight set. If the first average weight is greater than the second average weight, the first maximum allowable pressure threshold is used as the target pressure threshold of the air spring; otherwise, the second maximum allowable pressure threshold is used as the target pressure threshold of the air spring.

[0085] As another feasible approach, when the road surface on which the vehicle is traveling has no slope, the second maximum permissible pressure threshold is used as the target pressure threshold for the air spring.

[0086] For example, when a vehicle enters an elevated main road from an uphill ramp, there are three road conditions: "ground level," "uphill," and "merging." The vehicle's center of gravity corresponds to the states of "center," "rearward," and "center" respectively. When the center of gravity is rearward, the uneven force on the vehicle increases the stress on the rear suspension. To ensure that the engine compartment and the floor in the passenger compartment are level by adjusting the height difference of the four-wheel suspension, the rear airbags usually inflate to raise the air suspension height. When merging into the elevated road, the vehicle's center of gravity is "center" again. The rear airbags, due to their height increase during the uphill climb, create a transient height difference between the front and rear suspensions when the center of gravity is "center," resulting in a sudden stiffening of the suspension and a bumpy feeling. The method described above, by judging the position of the center of gravity, predicts the state of the vehicle merging into the main road, and thus actively adjusts the vehicle's height before the vehicle merges into the main road, i.e., before the center of gravity position changes, reducing the bumpy feeling.

[0087] In one possible implementation, the vehicle includes multiple air springs corresponding one-to-one with multiple wheels; each air spring has its corresponding target pressure threshold; driving information includes the wheel speeds of the multiple wheels and the heights of the multiple air springs; based on the vehicle's driving information and the target pressure thresholds, the air springs are depressurized, including: for a target wheel among the multiple wheels, determining the theoretical pressure range of the target air spring based on the wheel speed of the target wheel and the height of the target air spring corresponding to the target wheel; if the pressure value of the target air spring exceeds the theoretical pressure range, correcting the pressure value of the target air spring using the pressure values ​​of the other air springs among the multiple air springs besides the target air spring; if the corrected pressure value of the target air spring is greater than the target pressure threshold of the target air spring, depressurizing the target air spring to avoid inaccurate pressure value judgment due to air spring failure or malfunction, thereby affecting the performance of the air spring depressurization control.

[0088] The aforementioned driving information includes vehicle height, acceleration, wheel speed, and other information during vehicle movement.

[0089] The aforementioned theoretical pressure range is calculated using physical models or control algorithms based on the wheel speed of the target wheel and the height of the air spring. It represents the permissible pressure range of the air spring to ensure vehicle driving safety and comfort. The lower limit of the theoretical pressure range is the minimum pressure required for the air spring to maintain the vehicle's basic load-bearing capacity and air suspension stiffness, while the upper limit is the maximum pressure allowed by the air spring to prevent airbag rupture, material fatigue, or loss of vehicle control.

[0090] The above correction refers to the assessment of the risk of failure or malfunction of the target air spring when its pressure value exceeds the theoretical pressure range. Based on the pressure values ​​of other air springs on the vehicle, the pressure value of the target air spring is predicted and corrected accordingly. As a feasible approach, Figure 3 This is a schematic diagram of the control logic of an air spring shown in an embodiment of this application.

[0091] S301, the left front airbag pressure sensor, the left rear airbag pressure sensor, the right front airbag pressure sensor, and the right rear airbag pressure sensor collect the pressure values ​​of the air springs.

[0092] The aforementioned left front airbag pressure sensor, left rear airbag pressure sensor, right front airbag pressure sensor, and right rear airbag pressure sensor are activated simultaneously by the exhaust valve controller via a preset protocol, and the pressure values ​​are transmitted to the controller via hardwire. For example, the preset protocol can be the PSI5 pulse protocol.

[0093] S302: Analyze the pressure value of each air spring and transmit it to the microcontroller unit (MCU).

[0094] The pressure sensor mentioned above uses a preset transmission protocol. Since the MCU does not have a corresponding parsing interface, a parsing chip needs to be deployed outside the MCU to convert the preset protocol into ordinary data and transmit it to the MCU through internal wiring.

[0095] S303 and MCU integrate the pressure value of each air spring with the driving information of the vehicle motion control unit (VMC).

[0096] The above fusion includes checking the pressure value of each air spring based on driving information, determining whether the air spring is faulty or malfunctioning, correcting the pressure value of the faulty or malfunctioning air spring, and outputting the corrected pressure value along with the pressure value of the remaining air springs.

[0097] S304. Based on the fusion information and the chassis CAN output chassis controller, determine the maximum permissible pressure threshold of the air spring.

[0098] S305. Optimize the maximum permissible pressure threshold based on the calibration function of the first and / or second variation curves to obtain the optimized maximum permissible pressure threshold.

[0099] For example, the first variation curve can be "road slope information - maximum permissible pressure threshold curve", and the second variation curve can be "external air pressure & external temperature & external force collision information - maximum permissible pressure threshold curve".

[0100] S306. The air spring is pressure controlled based on the optimized maximum allowable pressure threshold and the air spring pressure value.

[0101] The aforementioned MCU compares the real-time values ​​detected by each pressure sensor with the "calibrated optimized maximum allowable pressure threshold" to determine whether the airbag pressure exceeds the limit. If the airbag pressure exceeds the limit, the MCU calculates the volume of gas that the air spring needs to release based on the air pressure function and transmits the information to other assemblies in the vehicle via the chassis CAN, private CAN, or Ethernet to open the exhaust valve. Furthermore, when the actuator receives the information from the exhaust valve controller requesting the exhaust valve to open, it immediately opens the exhaust valve to instantly release the gas inside the airbag.

[0102] Other assemblies of the aforementioned vehicle include drive-by-wire chassis suspension assembly (spring assembly and shock absorber assembly), braking assembly (service brake assembly and parking brake assembly based on, but not limited to, hub motors), and steering assembly, etc.

[0103] Figure 4 This is a block diagram of a control device for an air spring, as shown in an embodiment of this application.

[0104] The aforementioned device is used to receive information from the vehicle body domain controller, electronic brake control module, motor control module, signal acquisition module, instrument control module, etc.

[0105] The aforementioned device includes an air suspension compressor assembly, an air suspension power control unit, an exhaust valve controller, an air tank, and air springs, etc.

[0106] The air spring contains a pressure sensor and an APR (Air Pressure Regulation) mechanism.

[0107] Figure 5 This is a block diagram illustrating a control system for an air spring according to an embodiment of this application, with reference to... Figure 5 The control system for the air spring includes: a first pressure determination module 501, a second pressure determination module 502, and a spring control module 503.

[0108] The first pressure determination module 501 is used to determine the first maximum permissible pressure threshold of the air spring based on the road slope information of the road surface on which the vehicle is traveling. The second pressure determination module 502 is used to determine the second maximum permissible pressure threshold of the air spring in the vehicle based on the vehicle's external environment information. Spring control module 503 is used to control the deflation of the air spring based on a first maximum permissible pressure threshold and / or a second maximum permissible pressure threshold.

[0109] In one possible implementation, the first pressure determination module is specifically used for: Based on road slope information, determine the centroid of the vehicle at the next path point; The pressure value corresponding to the center of gravity is retrieved from the first variation curve; where the first variation curve is the variation curve between the vehicle's center of gravity and the maximum permissible pressure threshold of the air spring on the vehicle. The retrieved pressure value is determined as the first maximum permissible pressure threshold.

[0110] In one possible implementation, the second pressure determination module is specifically used for: The pressure value corresponding to the external environment information is retrieved from the second variation curve; wherein, the second variation curve is the variation curve between the vehicle's external environment information and the maximum permissible pressure threshold of the air spring on the vehicle. The retrieved pressure value is determined as the second maximum permissible pressure threshold; the external environmental information includes: external air pressure and external temperature.

[0111] In one possible implementation, the external environment information also includes: external force collision information.

[0112] In one possible implementation, the spring control module is used for: The target pressure threshold is determined based on the first maximum permissible pressure threshold and / or the second maximum permissible pressure threshold; Based on the vehicle's driving information and the target pressure threshold, the air spring is deflated.

[0113] In one possible implementation, the spring control module is specifically used for: The minimum value between the first maximum permissible pressure threshold and the second maximum permissible pressure threshold is determined as the target pressure threshold.

[0114] In one possible implementation, the vehicle includes multiple air springs corresponding one-to-one with multiple wheels; each air spring has its corresponding target pressure threshold; driving information includes the wheel speeds of the multiple wheels and the heights of the multiple air springs; the system is further used for: For a target wheel among multiple wheels, the theoretical pressure range of the target air spring is determined based on the wheel speed of the target wheel and the height of the target air spring corresponding to the target wheel. When the pressure value of the target air spring exceeds the theoretical pressure range, the pressure value of the target air spring is corrected by using the pressure values ​​of the other air springs besides the target air spring. If the corrected pressure value of the target air spring is greater than the target pressure threshold of the target air spring, the target air spring is depressurized.

[0115] Regarding the methods in the above embodiments, the specific manner in which each step is performed has been described in detail in the embodiments of the air spring control method, and will not be elaborated here.

[0116] Figure 6 This is a block diagram illustrating an electronic device according to an embodiment of this application. Figure 6 As shown, the electronic device includes, but is not limited to, a processor 601 and a memory 602.

[0117] The memory 602 described above is used to store the executable instructions of the processor 601. It is understood that the processor 601 is configured to execute instructions to implement the air spring control method in the above embodiments.

[0118] It should be noted that those skilled in the art will understand that Figure 6 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 6 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0119] Processor 601 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 602, and by calling data stored in memory 602, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 601 may include one or more processing units. Processor 601 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 601.

[0120] The memory 602 can be used to store software programs and various data. The memory 602 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as deterministic components, integrated components, etc.), etc. Furthermore, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0121] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 602 including instructions, which can be executed by a processor 601 of an electronic device to implement the methods in the above embodiments.

[0122] In actual implementation, Figure 5The functions of the first pressure determination module 501, the second pressure determination module 502, and the spring control module 503 can all be determined by... Figure 6 The processor 601 calls the computer program stored in the memory 602 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0123] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device. In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 601 of an electronic device to perform the methods in the above embodiments.

[0124] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0127] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0129] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0130] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods described in the above method embodiments.

[0131] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method in the method flow shown in the above method embodiments.

[0132] The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a register, a hard disk, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). In embodiments of this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0133] Since the air spring control system, computer-readable storage medium, and computer program product in the embodiments of this application can be applied to the above method, the technical effects that can be obtained can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0134] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of an air spring, characterized by, The method comprises: determining a first maximum allowable pressure threshold of the air spring based on road slope information of a road surface on which the vehicle travels; determining a second maximum allowable pressure threshold of the air spring in the vehicle based on vehicle external environment information of the vehicle; controlling deflation of the air spring based on the first maximum allowable pressure threshold and / or the second maximum allowable pressure threshold.

2. The control method of the air spring according to claim 1, wherein The determination of the first maximum allowable pressure threshold of the air spring based on the road slope information of the road surface on which the vehicle travels comprises: determining a center of mass of the vehicle at a next waypoint based on the road slope information; querying a pressure value corresponding to the center of mass from a first change curve, wherein the first change curve is a change curve between a center of mass of a vehicle and a maximum allowable pressure threshold of an air spring on the vehicle; determining the queried pressure value as the first maximum allowable pressure threshold.

3. The control method of the air spring according to claim 1, wherein The determination of the second maximum allowable pressure threshold of the air spring in the vehicle based on vehicle external environment information of the vehicle comprises: querying a pressure value corresponding to the vehicle external environment information from a second change curve, wherein the second change curve is a change curve between vehicle external environment information of a vehicle and a maximum allowable pressure threshold of an air spring on the vehicle; determining the queried pressure value as the second maximum allowable pressure threshold; The vehicle external environment information further comprises external force collision information.

4. The control method of the air spring according to claim 3, wherein The controlling of deflation of the air spring based on the first maximum allowable pressure threshold and / or the second maximum allowable pressure threshold comprises:

5. The method of controlling an air spring according to any one of claims 1 to 4, wherein determining a target pressure threshold based on the first maximum allowable pressure threshold and / or the second maximum allowable pressure threshold; controlling deflation of the air spring based on driving information of the vehicle and the target pressure threshold. The determination of the target pressure threshold based on the first maximum allowable pressure threshold and / or the second maximum allowable pressure threshold comprises:

6. The control method of the air spring according to claim 5, wherein determining a minimum value of the first maximum allowable pressure threshold and the second maximum allowable pressure threshold as the target pressure threshold. The vehicle comprises a plurality of air springs corresponding to a plurality of wheels one by one; each of the plurality of air springs has a corresponding target pressure threshold; the driving information comprises wheel speeds of the plurality of wheels and heights of the plurality of air springs; 7. The control method of the air spring according to claim 5, wherein The controlling of deflation of the air spring based on the driving information of the vehicle and the target pressure threshold comprises: for a target wheel in the plurality of wheels, determining a theoretical pressure range of a target air spring corresponding to the target wheel based on a wheel speed of the target wheel and a height of the target air spring; in a case where a pressure value of the target air spring exceeds the theoretical pressure range, correcting the pressure value of the target air spring by using pressure values of other air springs in the plurality of air springs except the target air spring; in a case where a corrected pressure value of the target air spring is greater than the target pressure threshold of the target air spring, controlling deflation of the target air spring. ​ 8. A control system for an air spring, comprising: The system comprises: a first pressure determination module configured to determine a first maximum allowable pressure threshold of the air spring based on road slope information of a road surface on which the vehicle travels; a second pressure determination module configured to determine a second maximum allowable pressure threshold of the air spring based on vehicle external environment information of the vehicle; a spring control module configured to control deflation of the air spring based on the first maximum allowable pressure threshold and / or the second maximum allowable pressure threshold.

9. A vehicle characterized by comprising: The vehicle comprises the air spring control system according to claim 8.

10. An electronic device, comprising: A computer program product comprising a processor and a memory, the memory having stored therein at least one computer program, the at least one computer program being loadable and executable by the processor to implement the air spring control method according to any one of claims 1 to 7.

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